Cargo Trailer Sensor Assembly

ABSTRACT

A sensor assembly can include a housing that includes a view pane and a mounting feature configured to replace a trailer light of a cargo trailer of a semi-trailer truck. The sensor assembly can also include a lighting element mounted within the housing to selectively generate light, and a sensor mounted within the housing and having a field of view through the view pane. The sensor assembly can also include a communication interface configured to transmit sensor data from the sensor to a control system of the self-driving tractor.

BACKGROUND

Semi-trailer trucks typically include a tractor coupled to a cargotrailer, which can vary in type and dimensions. Knowledge of the length,width, and height of tractor and cargo trailer combinations can enableskilled drivers to safely maneuver semi-trailer trucks in mostscenarios. However, significant risks persist due to large blind spotsin several areas surrounding the tractor and cargo trailer. Furthermore,the cargo trailer of a semi-trailer truck can be more than fifteenmeters in length, which can significantly complicate low speedmaneuvers, such as tight turns and docking maneuvers. Despite institutedpublic safety measures, such as the Federal Motor Carrier SafetyAdministration's “No Zone” campaign, the risks to surrounding vehiclesand pedestrians remain persistently high due to the large blind spotsand complex low speed maneuvering of semi-trailer trucks.

BRIEF DESCRIPTION OF THE DRAWINGS

The disclosure herein is illustrated by way of example, and not by wayof limitation, in the figures of the accompanying drawings in which likereference numerals refer to similar elements, and in which:

FIG. 1A illustrates a cargo trailer including a number of sensorassemblies, according to various embodiments;

FIG. 1B illustrates a self-driving semi-trailer truck including aself-driving tractor coupled to a cargo trailer, according to examplesdescribed herein;

FIG. 2A illustrates a camera sensor assembly, according to variousembodiments;

FIG. 2B illustrates a LIDAR sensor assembly, according to variousembodiments;

FIG. 3 is a block diagram illustrating a vehicle control system of aself-driving tractor in communication with a number of sensor assembliesof a cargo trailer, according to various embodiments;

FIG. 4 is a block diagram illustrating a sensor assembly incommunication with a vehicle control system of a self-driving tractor,according to various embodiments;

FIG. 5 is a flow chart describing a method of operating a sensorassembly for a cargo trailer, according to embodiments described herein;

FIG. 6 is a flow chart describing a method of autonomously operating aself-driving tractor using a set of sensor assemblies of a coupled cargotrailer, according to embodiments described herein; and

FIG. 7 is a block diagram illustrating a computer system upon whichexample processing systems of a self-driving tractor unit describedherein may be implemented.

DETAILED DESCRIPTION

Various embodiments of sensor assemblies are described herein to aid theautonomous vehicle control system of a (partially or fully) self-drivingtractor of a semi-trailer truck. The self-driving tractor can includesensors mounted in one or more sensor arrays on the exterior of theself-driving tractor, such as monocular or stereo cameras, LIDARsensors, proximity sensors, infrared sensors, sonar sensors, and thelike. The control system of the self-driving tractor can includeprocessing resources, such as field programmable gate arrays and CPUs,that couple to operate the various control mechanisms of theself-driving tractor. These control mechanisms can include the tractor'sacceleration, braking, and steering systems, as well as the varioussignaling, shifting, and lighting systems. The self-driving tractor canalso include a fifth wheel couplable to the kingpin of a cargo trailer.

The National Highway Traffic Safety Administration (NHTSA) hasestablished a set of federal requirements for lighting equipment and thelocation of lighting elements for cargo trailers. For example, cargotrailers are required to include a minimum of two tail lamps, two stoplamps, two rear turn signal lamps, a license plate lamp, two rear sidemarker lamps, and two front side marker lamps. For cargo trailers thatare longer than nine meters, additional intermediate side marker lampsare required. Additional clearance lamps and/or identification lamps arerequired for certain trailers to indicate the trailer dimensions, bumperclearance, cargo identifier (e.g., for hazardous material), and thelike. Power is typically provided to these various lamps via a busconnector to the tractor, such as a multi-pin round connector.

Sensor assemblies described herein can be configured to replace one ormore lamps of the cargo trailer. Each sensor assembly can include ahousing that can comprise a view pane and a mounting feature configuredto replace a trailer lamp assembly of a cargo trailer. The sensorassembly can include a lighting element mounted within the housing toselectively generate light, and a sensor mounted within the housing andhaving a field of view through the view pane. In various examples, thesensor assembly can further include a communication interface configuredto transmit sensor data from the sensor to the control system of theself-driving tractor unit.

In certain implementations, the communication interface of the sensorassembly can comprise a wireless communication module to wirelesslytransmit the sensor data to the control system of the self-drivingtractor unit. In variations, the communication interface can comprise awired interface that includes a plurality of pins. The plurality of pinscan include a power pin receiving power to activate the lightingelement(s), and a data pin to transmit the sensor data to the controlsystem of the self-driving tractor unit. In some examples, the wiredinterface can couple to the self-driving tractor unit via the multi-pintrailer bus connector.

According to various embodiments, the sensor of the sensor assembly cancomprise a camera, such as a monocular camera or stereo camera. Invariations, the sensor can comprise a LIDAR sensor. The housing canfurther include a lens, separate from the view pane, and through whichlight from the lighting elements can be transmitted. As describedherein, the housing of the sensor assembly can be configured to replacea lamp assembly of the cargo trailer, such as a turn signal assembly, abrake lamp assembly, a tail light assembly, a clearance indicator lampassembly, or the side marker lamp assemblies. The mounting feature cancomprise a flush mount, hang mount that hangs from an underside of thecargo trailer, or a pedestal mount that replaces a pedestal signal ofthe cargo trailer.

In certain examples, the sensor assembly can further include acontroller that selectively actuates the sensor and the lightingelement(s). Additionally, the communication interface of the sensorassembly can also be configured to receive illumination signals from thecontrol system of the self-driving tractor, and in response, thecontroller can actuate the lighting element to be illuminated based onthe illumination signals. The communication interface can also beconfigured to receive sensor activation signals from the control systemof the self-driving tractor. In response to the sensor activationsignals, the controller can selectively activate the sensor. Forexample, the sensor of a side mounted sensor assembly can be selectivelyactivated when the self-driving tractor performs a turn or lane change.As another example, the sensor of a rear mounted sensor assembly can beselectively activated when a reverse gear is engaged by the controlsystem of the self-driving tractor. As described herein, these selectivesensor activation signals can be transmitted to the communicationinterfaces of the sensor assemblies wirelessly or through the multi-pinbus connector (e.g., via a two-way data pin).

Among other benefits, the examples described herein achieve a technicaleffect of improving safety in the autonomous operation of semi-trailertrucks by significantly reducing or eliminating cargo trailer blindspots while also fulfilling the lighting requirements of cargo trailers.The sensor assembly embodiments described herein can be installed toreplace one or more existing lamp assemblies of a current cargo trailer.In some aspects, the sensor assembly embodiments can further leveragethe electrical wiring of cargo trailers to supply power to sensors,lighting elements, and/or communications modules and receive datacommunications from the sensors of the sensor assembly. Sensor data fromthe sensor assemblies can be transmitted to the control system of theself-driving tractor, significantly reducing or eliminating cargotrailer blind spots.

As used herein, a computing device refers to devices corresponding todesktop computers, cellular devices or smartphones, personal digitalassistants (PDAs), laptop computers, tablet devices, virtual reality(VR) and/or augmented reality (AR) devices, wearable computing devices,television (IP Television), etc., that can provide network connectivityand processing resources for communicating with the system over anetwork. A computing device can also correspond to custom hardware,in-vehicle devices, or on-board computers, etc. The computing device canalso operate a designated application configured to communicate with thenetwork service.

One or more examples described herein provide that methods, techniques,and actions performed by a computing device are performedprogrammatically, or as a computer-implemented method. Programmatically,as used herein, means through the use of code or computer-executableinstructions. These instructions can be stored in one or more memoryresources of the computing device. A programmatically performed step mayor may not be automatic. An action performed automatically, as usedherein, means the action is performed without necessarily requiringhuman intervention.

One or more examples described herein can be implemented usingprogrammatic modules, engines, or components. A programmatic module,engine, or component can include a program, a sub-routine, a portion ofa program, or a software component or a hardware component capable ofperforming one or more stated tasks or functions. As used herein, amodule or component can exist on a hardware component independently ofother modules or components. Alternatively, a module or component can bea shared element or process of other modules, programs or machines.

Some examples described herein can generally require the use ofcomputing devices, including processing and memory resources. Forexample, one or more examples described herein may be implemented, inwhole or in part, on computing devices such as servers, desktopcomputers, cellular or smartphones, personal digital assistants (e.g.,PDAs), laptop computers, printers, digital picture frames, networkequipment (e.g., routers) and tablet devices. Memory, processing, andnetwork resources may all be used in connection with the establishment,use, or performance of any example described herein (including with theperformance of any method or with the implementation of any system).

Furthermore, one or more examples described herein may be implementedthrough the use of instructions that are executable by one or moreprocessors. These instructions may be carried on a computer-readablemedium. Machines shown or described with figures below provide examplesof processing resources and computer-readable mediums on whichinstructions for implementing examples disclosed herein can be carriedand/or executed. In one embodiment, a software module is implementedwith a computer program product including a computer-readablenon-transitory medium containing computer program code, which can beexecuted by a computer processor for performing any or all of the steps,operations, or processes described. As such, one or more general purposeprocessors coupled to the computer-readable medium correspond to aspecial purpose processor system for performing the steps, operations,or processes described herein. In particular, the numerous machinesshown with examples of the invention include processors and variousforms of memory for holding data and instructions. Examples ofcomputer-readable mediums include permanent memory storage devices, suchas hard drives on personal computers or servers. Other examples ofcomputer storage mediums include portable storage units, such as CD orDVD units, flash memory (such as those carried on smartphones,multifunctional devices or tablets), and magnetic memory. Computers,terminals, network enabled devices (e.g., mobile devices, such as cellphones) are all examples of machines and devices that utilizeprocessors, memory, and instructions stored on computer-readablemediums. Additionally, examples may be implemented in the form ofcomputer-programs, or a computer usable carrier medium capable ofcarrying such a program.

Numerous examples are referenced herein in context of a self-drivingvehicle. A self-driving vehicle refers to a vehicle that is operated ina state of automation with respect to steering and propulsion. Differentlevels of autonomy may exist with respect to self-driving vehicles. Forexample, some vehicles may enable automation in limited scenarios, suchas on highways, provided that drivers are present in the vehicle. Moreadvanced self-driving vehicles can drive without any human assistancefrom within or external to the vehicle.

Example Cargo Trailer

FIG. 1A illustrates a cargo trailer 100 including a number of sensorassemblies, according to various embodiments. The cargo trailer 100 caninclude a kingpin (not shown) that couples the cargo trailer to thefifth wheel of a tractor. In various examples, the cargo trailer 100 cancomprise a standard box trailer for common eighteen-wheeler trucks.However, the cargo trailer 100 can also comprise any type of trailerthat couples to the fifth wheel or trailer hitch of a tractor, and cancarry any type of cargo. For example, the cargo trailer 100 can comprisea car-carrier trailer, a flatbed trailer, a tanker trailer, a dumptrailer, a hopper bottom trailer, a lowboy trailer, a refrigerationtrailer, a tank container chassis trailer, or a double trailer.

According to various implementations, the cargo trailer 100 can includea set of sensor assemblies that are configured to replace one or morelamp assemblies of the cargo trailer 100. Detailed descriptions ofexample sensor assemblies are provided below with respect to FIGS. 2A,2B, and 4. In certain implementations, the cargo trailer 100 can includea forward, upper-side marker sensor assembly 102 that replaces arequired forward, upper side marker lamp assembly. Additionally oralternatively, the cargo trailer can include a mid-side marker sensorassembly 108 to replace a mid-side marker lamp assembly (e.g., includinga turn signal), and/or a rear-side marker sensor assembly 104 thatreplaces a rear-side marker lamp assembly.

The cargo trailer 100 can include a rear lighting arrangement 110comprising one or more brake indication lamps, tail lamps, reversesignaling lamps, or turn signaling lamps. In certain examples, a lowerrearward sensor assembly 112 can be configured to replace any of thelamp assemblies that house the aforementioned lamps. In variousexamples, the cargo trailer 100 can also comprise a rear clearancelighting arrangement 118 that includes any number of tail lamps or brakeindication lamps. In certain implementations, the rear clearancelighting arrangement 118 can comprise one or more rear clearance sensorassemblies 116 that replace a corresponding one or more rear clearancelamps in the arrangement 118.

In addition to the sensor assemblies described, any number of additionalsensor assemblies may be mounted to or included with the cargo trailer100. For example, certain cargo trailers may require additional lampassemblies, such as corner clearance lamps, additional side lamps,license plate lamps, or other rearward facing lamps. Sensor assemblyembodiments described herein can be configured to replace any of thelamp assemblies housing these lamps.

Example Self-Driving Semi-Trailer Truck

FIG. 1B illustrates a self-driving semi-trailer truck 120 including aself-driving tractor 130 coupled to a cargo trailer 140, according toexamples described herein. As shown in FIG. 1B, the self-drivingsemi-trailer truck 120 can include a self-driving tractor 130 with acargo trailer 140 having a kingpin coupled to a fifth wheel or trailerhitch of the self-driving tractor 130. The self-driving tractor 130includes a number of sensor arrays 126, 128 each including any number ofsensors and sensor types. For example, sensor array 126 can include aprimary LIDAR sensor 122 and a number of additional LIDAR sensors 114, anumber of cameras 116, and other sensors, such as a radar system,proximity sensors, infrared sensors, sonar sensors, and the like. Thevarious sensors of the sensor arrays 126, 128 can provide an autonomouscontrol system of the self-driving tractor 130 with a fused sensor viewof a surrounding environment of the self-driving semi-trailer truck 120to enable the control system to autonomously operate the controlmechanisms of the self-driving tractor 130, as described in detail belowin connection with FIG. 3.

The autonomous control system can receive sensor data from the varioussensors of the sensor arrays 126, 128 coupled to the self-drivingtractor 130. According to examples described herein, the autonomouscontrol system can also receive sensor data from sensor assemblies 144,146 coupled to the cargo trailer 140. These sensor assemblies 144, 146can transmit sensor data wirelessly (e.g., via Bluetooth, Wi-Fi, Zigbee,Infrared, etc.), or through a wired interface via the trailer busconnection 138. The trailer bus connection 138 can electronically couplethe self-driving tractor 130 to the cargo trailer 140 to, for example,selectively provide power to the various lighting elements of the cargotrailer 140, such as the tail lights, brake lights, turning signals,reverse light, clearance lights, and the like.

The sensor assemblies 144, 146 can receive power over the trailer busconnection 138 from the tractor 130 to power their lighting elements,sensors, and communication modules. In certain examples, the sensorassemblies 144, 146 can also transmit or stream sensor data via thetrailer bus connection 138. In such examples, the connector for thetrailer bus connection 138 can comprise a multi-pin connector with adata pin for transmitting the sensor data from the sensor assemblies144, 146 to the autonomous control system of the self-driving tractor130.

In various implementations, an individual sensor assembly may beselectively activated at certain times as the self-driving semi-trailertruck 120 operates. For example, the sensor (e.g., a camera or LIDARsensor) of a side-marker sensor assembly 144 can be selectivelyactivated in concert with a corresponding turn signal light alsodisposed within the sensor assembly 144. The power signal to activatethe turn signal can also trigger the activation of the sensor. Alongthese lines, when the turn signal is deactivated, the sensor may alsodeactivate accordingly. Likewise, a rearward facing sensor assembly maybe selectively activated when, for example, the self-driving tractor 130engages the reverse gear, and can be deactivated when the self-drivingtractor 130 disengages the reverse gear.

In certain examples, the autonomous control system can selectivelyactivate each sensor assembly 144, 146 when needed. For example, theautonomous control system can do so in order to track and monitor anobject or external entity that moves into a former blind spot of thetractor 130. In variations, the sensors of the various sensor assemblies144, 146 can continuously transmit sensor data to the autonomous controlsystem while operating the control mechanisms of the self-drivingtractor 130.

Example Sensor Assemblies

FIGS. 2A and 2B illustrate example sensor assembly embodiments that aremountable or otherwise couplable to the cargo trailer of a self-drivingsemi-trailer truck. FIG. 2A shows a camera sensor assembly 200 thatincludes a camera 202 having a field of view through a view pane 204 ofthe sensor assembly 200. The view pane 204 can comprise an oculus orother suitable opening in a lens 208 of the sensor assembly 200 toprovide the camera 202 with an unobstructed view. The camera 202 canprovide the autonomous control system of the self-driving tractor withimage or video data. The camera sensor assembly 200 can include one ormore mounting features 206 to mount the sensor assembly to the cargotrailer. In some aspects, the mounting feature 206 can be configured ina manner to enable the sensor assembly 200 to replace an existing lampassembly of the cargo trailer.

The sensor assembly 200 can include one or more lighting elements, suchas an LED or halogen lamp. The lighting element 212 can transmit lightthrough the lens 208 when selectively illuminated by the autonomouscontrol system of the self-driving tractor. The camera sensor assembly200 can be configured to replace a directional indicator lamp, a brakelamp, a tail lamp, a reverse lamp, a combination brake and tail lamp, ora clearance indicator lamp assembly. Accordingly, the lighting element212 can be selectively illuminated based on the self-driving tractoroperating at night, indicating a turn or lane change, selecting areverse gear, and/or braking. In variations, the lighting element 212can be continuously illuminated while the self-driving truck is beingoperated.

FIG. 2B illustrates a LIDAR sensor assembly 250, according to variousembodiments. As with the camera sensor assembly 200 of FIG. 2A, theLIDAR sensor assembly can also include one or more mounting features256, a view pane 254, a lens 258, and one or more lighting elements 262.Seated or mounted within the lens cavity, the sensor assembly 250 caninclude a LIDAR sensor 252. The LIDAR sensor 252 can provide theautonomous control system of the self-driving tractor with LIDAR datacorresponding to the field of view provided by the view pane 254. Asdescribed herein, the LIDAR data may be transmitted via a wired data busor wirelessly using a suitable wireless communication standard.

According to various examples, the sensor assemblies 200, 250 of FIGS.2A and 2B can further include an electronic bus connector to connect towiring of the cargo trailer. In certain aspects, the electricalconnection can supply power to one or more of the lighting elements 212,262 and the camera 200 and LIDAR sensor 250. Additionally, theelectrical connection can further supply power to a controller andcommunication module (not shown) of the sensor assemblies 200, 250, asdescribed below in connection with FIG. 4.

Example Systems

FIG. 3 is a block diagram illustrating a vehicle control system of aself-driving tractor in communication with a number of sensor assembliesof a cargo trailer, according to various embodiments. In an example ofFIG. 3, a vehicle control system 320 can autonomously operate theself-driving tractor 300 throughout geographic regions for a variety ofpurposes, including transport services (e.g., on-demand transport,freight and delivery services, etc.). In examples described, theself-driving tractor 300 can operate autonomously without human control.For example, the self-driving tractor 300 can autonomously steer,accelerate, shift, brake, and operate lighting components. Somevariations also recognize that the self-driving tractor 300 can switchbetween an autonomous mode, in which the vehicle control system 320autonomously operates the tractor 300, and a manual mode in which aqualified driver takes over manual control of the acceleration system372, steering system 374, braking system 376, and lighting and auxiliarysystems 378 (e.g., directional signals and headlights).

According to some examples, the vehicle control system 320 can utilizespecific sensor resources 310 to autonomously operate the tractor 300 ina variety of driving environments and conditions. For example, thevehicle control system 320 can operate the tractor 300 by autonomouslyoperating the steering, acceleration, and braking systems 372, 374, 376of the tractor 300 to a specified destination. The control system 320can perform low-level vehicle control actions (e.g., braking, steering,accelerating) and high-level route planning using sensor information, aswell as other inputs (e.g., transmissions from remote or local humanoperators, network communication from other vehicles, a freighttransport coordination system, etc.).

In an example of FIG. 3, the vehicle control system 320 includescomputational resources (e.g., processing cores and/or fieldprogrammable gate arrays (FPGAs)) which operate to process sensor datareceived from the sensors 310 of the tractor 300, which provide a sensorview of a road segment upon which the tractor 300 operates. The sensordata can be processed to determine actions to be performed by thetractor 300 in order for the tractor 300 to continue on a route to thedestination, or in accordance with a set of transport instructionsreceived from a remote freight transport coordination service. In somevariations, the vehicle control system 320 can include otherfunctionality, such as wireless communication capabilities using acommunications module, to send and/or receive wireless communicationsover one or more networks with one or more remote sources. Incontrolling the tractor 300, the control system 320 can generatecommands to control the various vehicle control mechanisms 370 of thetractor 300, including the acceleration system 372, steering system 374,braking system 376, and auxiliary systems 378 (e.g., lights anddirectional signals).

The self-driving tractor 300 can be equipped with multiple types ofsensors 310 which can combine to provide a computerized perception, orsensor view, of the space and the physical environment surrounding thetractor 300. Likewise, the control system 320 can operate within thetractor 300 to receive sensor data from the sensors 310 and to controlthe various vehicle controls 370 in order to autonomously operate thetractor 300. For example, the control system 320 can analyze the sensordata to generate low level commands executable by the accelerationsystem 372, steering system 374, and braking system 376 of the tractor300. Execution of the commands by the control mechanisms 370 can resultin throttle inputs, braking inputs, and steering inputs thatcollectively cause the tractor 300 to operate along sequential roadsegments according to a route plan.

In more detail, the sensors 310 operate to collectively obtain a livesensor view for the vehicle control system 320 (e.g., in a forwardoperational direction, or providing a 360-degree sensor view), and tofurther obtain situational information proximate to the tractor 300,including any potential hazards or obstacles. By way of example, thesensors 310 can include a positioning system 312, such as a GPS module,and object detection sensors 314. The object detection sensors 314 canbe arranged in a sensor suite or sensor arrays mounted to the exteriorof the tractor 300, such as on the front bumper and roof. The objectdetection sensors 314 can comprise multiple sets of cameras (videocameras, stereoscopic cameras or depth perception cameras, long rangemonocular cameras), LIDAR sensors, one or more radar sensors, andvarious other sensor resources such as sonar, proximity sensors,infrared sensors, and the like.

In general, the sensors 310 collectively provide sensor data to aperception engine 340 of the vehicle control system 320. The perceptionengine 340 can access a data storage 330 comprising localizationsub-maps of the given region in which the tractor 300 operates. Thelocalization sub-maps can comprise a series of road segment sub-mapsthat enable the perception engine 340 to perform dynamic comparisonswith the live sensor view to perform object detection and classificationoperations. As provided herein, the localization sub-maps can comprisehighly detailed ground truth data of each road segment on which theself-driving tractor 300 can travel. For example, the localizationsub-maps can encompass long stretches of highways where perceptionoperations are relatively undemanding compared to a crowded urbanenvironment. The localization sub-maps can comprise prerecorded andfused data (e.g., sensor data including image data, LIDAR data, and thelike) by specialized mapping vehicles and/or autonomous vehicles withrecording sensors and equipment, and can be processed to pinpointvarious objects of interest (e.g., traffic signals, road signs, andother static objects). As the control system 320 autonomously operatesthe tractor 300 along a given route, the perception engine 340 canaccess sequential localization sub-maps of current road segments tocompare the details of a current localization sub-map with the sensordata in order to detect and classify any objects of interest, such asroad debris, other vehicles, pedestrians, bicyclists, and the like.

In various examples, the perception engine 340 can dynamically comparethe live sensor data from the tractor's sensors 310 to the currentlocalization sub-map as the tractor 300 travels through a correspondingroad or highway segment. The perception engine 340 can identify andclassify any objects of interest in the live sensor data that canindicate a potential hazard. In accordance with many examples, theperception engine 340 can provide object of interest data to aprediction engine 345 of the control system 320, where the objects ofinterest can each be classified (e.g., a pedestrian, a bicyclist,unknown objects, other vehicles, a static object, etc.).

Based on the classification of the detected objects, the predictionengine 345 can predict a path of each object of interest and determinewhether the vehicle control system 320 should respond or reactaccordingly. For example, the prediction engine 345 can dynamicallycalculate a collision probability for each object of interest based atleast in part on its classification, and generate event alerts if thecollision probability exceeds a certain threshold. As described herein,such event alerts can be processed by a motion planning engine 360 alongwith a processed sensor view indicating the classified objects withinthe live sensor view of the tractor 300. The vehicle controller 355 canthen generate control commands executable by the various vehiclecontrols 370 of the tractor 300, such as the acceleration, steering, andbraking systems 372, 374, 376. In certain examples, the motion planningengine 360 can determine an immediate, low level trajectory and/orhigher-level plan for the tractor 300 based on the event alerts andprocessed sensor view (e.g., for the next 100 meters, up to a nextintersection, or for a certain distance along a highway).

On a higher level, the motion planning engine 360 can provide thevehicle controller 355 with a route plan to a given destination, such asa pick-up location, a docking and drop off location, or otherdestination within a given road network. In various aspects, the motionplanning engine 360 can generate the route plan based on transportinstructions received from a remote freight coordination service (e.g.,over a wireless network). On a lower level, the motion planning engine360 can provide the vehicle controller 355 with an immediate trajectoryfor the tractor 300 based on the objects of interest, obstacles, andcollision probabilities identified and determined by the perception andprediction engines 340, 345. The vehicle controller 355 can generate theappropriate control commands executable by the vehicle controls 370accordingly.

In various examples, the motion planning engine 360 generatestrajectories for the tractor 300 in accordance with a motion planningmodel. Execution of the motion planning model enables the motionplanning engine 360 to safely calculate and/or construct trajectories inaccordance with the configuration and capabilities of the cargo trailer390, such as the maximum turning radius of the tractor 300 given thedimensions of the cargo trailer 390, the dimensions of the tractor 300and cargo trailer 390 combination (e.g., its overall length, width, andheight), and the axle positions of the tractor 300 and cargo trailer 390(e.g., to determine how wide to take a particular turn to ensureadequate clearance from curbs and objects).

According to examples described herein, the vehicle control system 320can include a trailer communication interface 380 to communicativelycouple the self-driving tractor 300 to the various sensor assemblies380, 382, 384, 386 of the cargo trailer 390 over one or more datatransmission medium(s) 375. Various operations of the control system 320performed in connection with the sensor assemblies 380, 382, 384, 386 ofthe cargo trailer 390 are described below with respect to the flow chartof FIG. 6. The data transmission medium(s) 375 can comprise a wirelessmedium, such as Bluetooth or Wi-Fi, in which communications modules ofthe sensor assemblies 380, 382, 384, 386 can transmit sensor data to thetrailer communication interface 380. In such examples, the trailercommunication interface 380 can also include wireless communicationcapabilities to transmit and or receive the sensor data. In certainexamples, the data transmission medium(s) 375 can include a wiredcommunication bus and connector (e.g., a round pin connector). In suchexamples, the sensor assemblies 380, 382, 384, 386 can transmit sensordata to the trailer communication interface 380 through the wiredcommunication bus (e.g., via a dedicated data bus and connector pin).

The sensor data from the sensor assemblies 380, 382, 384, 386 can beprocessed by the motion planning engine 360 to detect and monitorobjects of interest that would otherwise be in a blind spot of theself-driving tractor 300. For example, during low speed maneuvering,sensor data from the sensor assemblies 380, 382, 384, 386 of the cargotrailer 390 can indicate nearby pedestrians, vehicles, and objectsproximate to the cargo trailer 390, but otherwise undetected by thesensors 310 of the self-driving tractor 300. In some aspects, the sensordata from the sensor assemblies 380, 382, 384, 386 can be processed bythe perception engine 340 and the prediction engine 345 to performobject detection, classification, and dynamic path prediction andcollision probability calculations, as described herein. Based on thesensor data received via the data transmission medium(s) 375, the motionplanning engine 360 can generate control actions that cause the vehiclecontroller 355 to safely operate the vehicle controls 370 such thatadequate clearances between the cargo trailer 390 and any proximateobjects or entities are ensured, and any potential collisions areavoided.

In certain implementations, the vehicle control system 320 canselectively activate individual sensor assemblies 380, 382, 384, 386 ofthe cargo trailer 390. For example, sensor assembly 382 may beside-mounted to the cargo trailer, and during normal operation, canprovide redundant and/or unnecessary sensor data to the vehicle controlsystem 320 (e.g., from a sensor assembly monitoring a field of view thatis detectable by an object detection sensor 314 of the self-drivingtractor 300). However, as an example, when the self-driving tractor 300executes a turn, the respective fields of view of the sensors change inorientation between the cargo trailer 390 and the self-driving tractor300. Accordingly, the vehicle control system 320 can selectivelyactivate the sensor assembly 382 prior to and during the performance ofa particular maneuver, such as a lane change or a turn.

Furthermore, even though certain areas may be visible by a sensor 310 ofthe self-driving tractor 300, a sensor assembly of the cargo trailer hasa different perspective that can provide additional context to an objectpresent within that area. For example, a sensor 310 of the self-drivingtractor 300 may identify a vehicle to the side of the cargo trailer 390,but the side-mounted sensor assembly 382 may detect additional objectsbehind the vehicle, which the vehicle is blocking from the perspectiveof the first sensor 310. As another example, a sensor assembly 386mounted to the upper exterior wall of the cargo trailer can providegreater context to the overall traffic environment surrounding theself-driving semi-trailer truck, allowing to motion planning engine 360to make more robust motion plans and potentially execute safertrajectories than with a purely local sensor view from the sensors 310of the self-driving tractor 300.

According to examples described herein, the vehicle control system 320can selectively activate any individual sensor assembly 380, 382, 384,386 based on any number of triggering conditions or parameters. Suchtriggering conditions or parameters can include a speed threshold beingcrossed (e.g., activating all sensor assemblies 380, 382, 384, 386 whenthe tractor 300 drops below ten miles per hour). The triggeringconditions or parameters may be weather or visibility related, such aswhen there is precipitation, fog, or during nighttime drivingconditions. The triggering conditions or parameters may bemaneuver-based, where activation of certain sensor assemblies 380, 382,384, 386 occurs prior to and during execution of a lane change, a turn,a docking procedure, or a reversing maneuver. In certainimplementations, the vehicle control system 320 can activate certainside-mounted sensor assemblies of the cargo trailer 390 in concert withactivating a corresponding turn signal when making a turn or lanechange. Additionally or alternatively, the vehicle control system 320can cause one or more rear-facing sensor assemblies of the cargo trailer390 to either be continuously activated, or selectively activated basedon a reversing maneuver to be performed or the vehicle controller 355selecting the reverse gear.

In various examples, the vehicle control system 320 can transmit asensor activation signal to a selected sensor assembly of the cargotrailer 390 to activate the sensor and receive sensor data from thatsensor assembly. In certain implementations, the sensor assemblies 380,382, 384, 386 can receive power signals from a bus connector between theself-driving tractor 300 and the cargo trailer 390 to power the variouscomponents of the sensor assemblies 380, 382, 384, 386. Additionally oralternatively, the sensor assemblies 380, 382, 384, 386 can each includea power source that can be independently charged, or chargedautomatically (e.g., via solar power).

FIG. 4 is a block diagram illustrating a sensor assembly 400 incommunication with a vehicle control system 480 of a self-drivingtractor, according to various embodiments. As described herein, thesensor assembly 400 may have a combined electronic and datacommunication connection (e.g., a wired connection 460) or a separatewired electronic connection 460 and wireless data communicationconnection as data transmission mediums 475 with the vehicle controlsystem 480. The sensor assembly 400 of FIG. 4 can correspond to thesensor assemblies 200, 250 described in connection with FIGS. 2A and 2B,and can include mounting features, lenses, and view panes such as thosedescribed herein. In various examples, the sensor assembly 400 caninclude one or more sensors 430, which can comprise a LIDAR sensor or acamera (e.g., a monocular or stereoscopic camera). In variations, thesensor(s) 430 can comprise a proximity sensor, a radar sensor, aninfrared sensor, a sonar sensor, etc. The sensor assembly can furtherinclude one or more lighting elements 440 (e.g., an LED or halogenbulb).

In certain examples, the sensor assembly 400 can include a communicationmodule 450. The communication module 450 can comprise wirelesscommunications resources (e.g., one or more antennas and a Bluetooth orWi-Fi chipset and microcontroller) to communicate with the vehiclecontrol system 480 over the wireless transmission medium 475. In someaspects, the communication module 450 can perform one-waycommunications, transmitting or otherwise streaming sensor data from thesensor(s) 430 to the vehicle control system 480. In variations, thecommunication module 450 can perform two-way communications, receivingsensor activation signals from the vehicle control system 480, andtransmitting sensor data in response.

The sensor assembly 400 can further comprise a controller 420 thatprocesses activation signals from the vehicle control system 480 toactivate the lighting element(s) 440 and sensor(s) 430 selectively,separately, and/or in concert. Various operations performed by thecontroller 420 are described below in connection with the flow chartshown in FIG. 5. The controller 420 can receive activation signals fromthe vehicle control system 480 and selectively activate at least one ofthe lighting elements 440 and the sensor 430. For example, theactivation signal can comprise a lamp activation signal (e.g.,corresponding to the tractor braking). Based on the lamp activationsignal, the controller 420 can illuminate the lighting element(s) 440(e.g., to illuminate the brake lights of the cargo trailer. As anotherexample, the lighting element(s) 440 can comprise a turn signal, reverselight, tail light, or clearance light, and the lamp activation signalcan be received based on the tractor initiating a turn or lane change,performing a reversing maneuver, and/or operating in general orspecifically at night respectively.

In certain variations, the controller 420 can further receive sensoractivation signals, and activate the sensor(s) 430 in response. Asdescribed herein, the sensor activation signals can be received from thevehicle control system 480 based on any number of triggering conditionsor parameters, such as a speed threshold being crossed, a gear beingselected, a lane change or turn being executed, certain weatherconditions, road conditions, environmental conditions (e.g., when thetruck is in a crowded urban environment), or a maneuver to be performed(e.g., a three-point turn or docking maneuver). Along these lines, thecontroller 420 can selectively deactivate the sensor(s) 430 once thetriggering parameters or conditions have lapsed.

In some aspects, the sensor assembly 400 can include a wired connection460 that connects the sensor assembly 400 to the existing wiring of thecargo trailer. For example, the sensor assembly 400 can be configured toreplace an existing lamp assembly of the cargo trailer. Accordingly, incertain examples, the wired connection 460 can receive input power fromthe tractor via a bus connector (e.g., an industry standard, round pinconnector). The controller 420 can utilize the input power from thewired connection 460 to selectively activate the lighting element(s)440, the wireless communication module 450, and/or the sensor(s) 430.

In variations, the wired connection 460 can include a data bus throughwhich the controller 420 can output sensor data to the vehicle controlsystem 480. In such variations, a wireless communication module 450 neednot be included as a component of the sensor assembly 400. Furthermore,in such variations, the cargo trailer wiring may be updated to includethe data bus from the sensor assembly 400 to the bus connector betweenthe cargo trailer and the self-driving tractor. In various aspects, thisbus connector can include at least one dedicated pin for sensor datatransmission from the sensor assemblies 400 distributed on the cargotrailer.

Methodology

FIG. 5 is a flow chart describing a method of operating a sensorassembly for a cargo trailer, according to embodiments described herein.In the below description of FIG. 5, reference may be made to referencecharacters representing like features as shown and described withrespect to FIGS. 1A through 4. Furthermore, the processes described withrespect to FIG. 5 may be performed by an example controller of thesensor assembly 400 as shown and described with respect to FIG. 4.Referring to FIG. 5, the controller 420 of the sensor assembly 400 cancommunication with the control system 320 of a self-driving tractor 300over a communication medium 375 (500). In some aspects, thecommunication medium 375 can comprise a wired bus connector (502).Additionally or alternatively, the communication medium 375 can comprisea wireless transceiver (504).

In accordance with various embodiments, the controller 420 can receiveillumination signals from the control system 320 of the self-drivingtractor 300 (505). In accordance with the illumination signal, thecontroller 420 can activate one or more lighting element(s) 440 of thesensor assembly 400 (510). The controller 420 can also receive a sensoractivation signal from the control system 320 of the self-drivingtractor 300 (515). Based on the sensor activation signal, the controller320 can activate the sensor 430 of the sensor assembly (520), andtransmit sensor data from the sensor 430 to the vehicle control system320 of the tractor 300. As described herein, the sensor data may betransmitted wirelessly using a suitable wireless communication protocol,or via a wired data bus through the bus connector with the self-drivingtractor 300.

FIG. 6 is a flow chart describing a method of autonomously operating aself-driving tractor 300 using a set of sensor assemblies of a coupledcargo trailer, according to embodiments described herein. In the belowdescription of FIG. 6, reference may also be made to referencecharacters representing like features as shown and described withrespect to FIGS. 1A through 4. Furthermore, the processes described withrespect to FIG. 6 may be performed by an example vehicle control system320 of a self-driving tractor 300, as shown and described with respectto FIG. 3. Referring to FIG. 6, the vehicle control system 320 canautonomously operate the vehicle control mechanisms 370 of theself-driving tractor 300 (600). In various aspects, the vehicle controlsystem 320 can autonomously operate the acceleration system (602),braking system (604), steering system (605), signaling system (e.g.,headlights, tail lights, brake lights, turn signals, clearance lights,etc.) (606), and shifting system (608).

In various examples, the vehicle control system 320 can execute a motionplan to initiate a reverse and/or docking maneuver (610). The vehiclecontrol system 320 can selectively generate and transmit a sensoractivation signal to one or more rear and or side cargo trailer sensorassemblies 380, 382, 384, 386 accordingly (615). Based on the sensoractivation signal, the vehicle control system 320 can receive sensordata from the selected rear and/or side cargo trailer sensor assemblies380, 382, 384, 386 and execute the reversing and/or dicking maneuver(620).

According to certain implementations, the vehicle control system 320 canexecute a motion plan to initiate a directional maneuver (625), such asa lane change (627) or a turn (629). The vehicle control system 320 maythen selectively generate and transmit a sensor activation signal to oneor more side and/or rear cargo trailer sensor assemblies 380, 382, 384,386 to activate the selected sensors (630). Thereafter, the vehiclecontrol system 320 can receive sensor data from the side and/or rearcargo trailer sensor assemblies 380, 382, 384, 386 and execute thedirectional maneuver (625).

In various examples, the vehicle control system 320 can cause the sensorassemblies 380, 382, 384, 386 to be continuously or selectivelyactivated based on a set of triggering conditions or parameters, asdescribed herein. Furthermore, the embodiments described herein need notbe limited to any particular sensor or triggering conditions.

Example Hardware Diagram

FIG. 7 is a block diagram illustrating a computer system upon whichexample processing systems of a self-driving tractor described hereinmay be implemented. The computer system 700 can be implemented using anumber of processing resources 710, which can comprise computerprocessing (CPUs) 711 and field programmable gate arrays (FPGAs) 713. Insome aspects, any number of processors 711 and/or FPGAs 713 of thecomputer system 700 can be utilized as components of a neural networkarray 712 implementing a machine learning model and utilizing roadnetwork maps stored in memory 761 of the computer system 700. In thecontext of FIG. 3, various aspects and components of the control system320 can be implemented using one or more components of the computersystem 700 shown in FIG. 7.

According to some examples, the computer system 700 may be implementedwithin a self-driving tractor with software and hardware resources suchas described with examples of FIGS. 2 and 3. In an example shown, thecomputer system 700 can be distributed spatially into various regions ofthe self-driving tractor, with various aspects integrated with othercomponents of the tractor itself. For example, the processing resources710 and/or memory resources 760 can be provided in a cargo space of theself-driving tractor. The various processing resources 710 of thecomputer system 700 can also execute control instructions 762 usingmicroprocessors 711, FPGAs 713, a neural network array 712, or anycombination of the foregoing.

In an example of FIG. 7, the computer system 700 can include acommunication interface 750 that can enable communications over anetwork 780. In one implementation, the communication interface 750 canalso provide a data bus or other local links to electro-mechanicalinterfaces of the vehicle, such as wireless or wired links to and fromcontrol mechanisms 720 (e.g., via a control interface 721), sensorsystems 730, and can further provide a network link to a backendtransport management system or a remote teleassistance system(implemented on one or more datacenters) over one or more networks 780.

The memory resources 760 can include, for example, main memory 761, aread-only memory (ROM) 767, storage device, and cache resources. Themain memory 761 of memory resources 760 can include random access memory(RAM) 768 or other dynamic storage device, for storing information andinstructions which are executable by the processing resources 710 of thecomputer system 700. The processing resources 710 can executeinstructions for processing information stored with the main memory 761of the memory resources 760. The main memory 761 can also storetemporary variables or other intermediate information which can be usedduring execution of instructions by the processing resources 710. Thememory resources 760 can also include ROM 767 or other static storagedevice for storing static information and instructions for theprocessing resources 710. The memory resources 760 can also includeother forms of memory devices and components, such as a magnetic disk oroptical disk, for purpose of storing information and instructions foruse by the processing resources 710. The computer system 700 can furtherbe implemented using any combination of volatile and/or non-volatilememory, such as flash memory, PROM, EPROM, EEPROM (e.g., storingfirmware 769), DRAM, cache resources, hard disk drives, and/or solidstate drives.

The memory 761 may also store localization maps 764 in which theprocessing resources 710—executing control instructions 762—continuouslycompare to sensor data from the various sensor systems 730 of theself-driving tractor. Execution of the control instructions 762 cancause the processing resources 710 to generate control commands in orderto autonomously operate the tractor's acceleration 722, braking 724,steering 726, and signaling systems 728 (collectively, the controlmechanisms 720). Thus, in executing the control instructions 762, theprocessing resources 710 can receive sensor data from the sensor systems730, dynamically compare the sensor data to a current localization map764, and generate control commands for operative control over theacceleration, steering, and braking of the AV along a particular routeplan. The processing resources 710 may then transmit the controlcommands to one or more control interfaces 721 of the control mechanisms720 to autonomously operate the self-driving tractor along an autonomyroute.

While examples of FIG. 7 provide for computing systems for implementingaspects described, some or all of the functionality described withrespect to one computing system of FIG. 7 may be performed by othercomputing systems described with respect to FIG. 7.

It is contemplated for examples described herein to extend to individualelements and concepts described herein, independently of other concepts,ideas or systems, as well as for examples to include combinations ofelements recited anywhere in this application. Although examples aredescribed in detail herein with reference to the accompanying drawings,it is to be understood that the concepts are not limited to thoseprecise examples. As such, many modifications and variations will beapparent to practitioners skilled in this art. Accordingly, it isintended that the scope of the concepts be defined by the followingclaims and their equivalents. Furthermore, it is contemplated that aparticular feature described either individually or as part of anexample can be combined with other individually described features, orparts of other examples, even if the other features and examples make nomentioned of the particular feature. Thus, the absence of describingcombinations should not preclude claiming rights to such combinations.

1-20. (canceled)
 21. An autonomous vehicle, comprising: a plurality ofsensor assemblies positioned at different locations on the autonomousvehicle, the plurality of sensor assemblies respectively comprising: ahousing including a view pane; and a sensor mounted within the housingand having a field of view through the view pane of the housing; and acontrol system configured to: receive sensor data from the sensors ofthe plurality of sensor assemblies; identify a first triggeringcondition and a second triggering condition during operation of theautonomous vehicle; generate a first sensor activation signalidentifying a first set of one or more sensors selected from theplurality of sensor assemblies for activating in response to the firsttriggering condition; and generate a second sensor activation signalidentifying a second set of one or more sensors selected from theplurality of sensor assemblies for activating in response to the secondtriggering condition.
 22. The autonomous vehicle of claim 21, wherein atleast one the first triggering condition or the second triggeringcondition comprises crossing a speed threshold of the autonomousvehicle.
 23. The autonomous vehicle of claim 21, wherein at least one ofthe first triggering condition or the second triggering conditioncomprises a driving condition comprising at least one of precipitation,fog, or nighttime.
 24. The autonomous vehicle of claim 21, wherein atleast one of the first triggering condition or the second triggeringcondition comprises a maneuver-based condition comprising at least oneof a lane change, a turn, a docking procedure, or a reversing maneuver.25. The autonomous vehicle of claim 21, the control system configuredto: generate a first sensor deactivation signal configured to deactivatethe first set of one or more sensors once the first triggering conditionhas lapsed; and generate a second sensor deactivation signal configuredto deactivate the second set of one or more sensors once the secondtriggering condition has lapsed.
 26. The autonomous vehicle of claim 21,the plurality of sensor assemblies respectively comprising a lightingelement mounted within the housing to selectively generate light. 27.The autonomous vehicle of claim 26, the control system configured togenerate an illumination signal identifying one or more lightingelements selected from the plurality of sensor assemblies for activatingin response to the illumination signal.
 28. The autonomous vehicle ofclaim 27, wherein the illumination signal is configured to: actuatelighting elements associated with the first set of one or more sensorsin response to the first triggering condition; and actuate lightingelements associated with the second set of one or more sensors inresponse to the second triggering condition.
 29. The autonomous vehicleof claim 21, wherein: the autonomous vehicle comprises a self-drivingtractor coupled to a cargo trailer; and the plurality of sensorassemblies are positioned at different locations on at least one of theself-driving tractor or the cargo trailer.
 30. The autonomous vehicle ofclaim 29, wherein one or more of the plurality of sensor assemblies areconfigured to replace a lamp assembly of the cargo trailer.
 31. Theautonomous vehicle of claim 21, wherein the sensor in one or more of theplurality of sensor assemblies comprises at least one of a monocularcamera, a stereo camera, or a LIDAR sensor.
 32. A sensor assembly,comprising: a housing including a view pane; a lighting elementpositioned within the housing to generate light; a sensor positionedwithin the housing and having a field of view through the view pane ofthe housing; and a controller configured to: receive a first sensoractivation signal and a first illumination signal in response toidentification of a first triggering condition during operation of avehicle including the sensor assembly and, in response to receiving thefirst sensor activation signal and the first illumination signal,activate the lighting element and the sensor; and receive a secondsensor activation signal and a second illumination signal in response toidentification of a second triggering condition during operation of thevehicle including the sensor assembly and, in response to receiving thesecond sensor activation signal and the second illumination signal,activate the lighting element and the sensor.
 33. The sensor assembly ofclaim 32, the controller configured to: receive a first deactivationsignal indicative of the first triggering condition having lapsed, and,in response to receipt of the first deactivation signal, deactivate thelighting element and the sensor; and receive a second deactivationsignal indicative of the second triggering condition having lapsed, and,in response to receipt of the second deactivation signal, deactivate thelighting element and the sensor.
 34. The sensor assembly of claim 32,wherein the sensor assembly is mounted to an exterior position of aself-driving tractor and cargo trailer.
 35. The sensor assembly of claim34, wherein the sensor assembly is configured to replace a lamp assemblyof the cargo trailer.
 36. The sensor assembly of claim 32, wherein thesensor of the sensor assembly comprises at least one of a monocularcamera or a stereo camera.
 37. The sensor assembly of claim 32, whereinthe sensor of the sensor assembly comprises a LIDAR sensor.
 38. Thesensor assembly of claim 32, wherein at least one of the firsttriggering condition or the second triggering condition comprises adriving condition of the vehicle comprising at least one ofprecipitation, fog, or nighttime.
 39. The sensor assembly of claim 32,wherein at least one of the first triggering condition or the secondtriggering condition comprises at least one of a speed threshold beingcrossed, a lane change, a turn, a docking procedure, or a reversingmaneuver.
 40. A computer-implemented method of controlling multiplesensors respectively included within a set of multiple sensor assembliespositioned at different locations on an autonomous vehicle, comprising:identifying a first triggering condition and a second triggeringcondition during operation of the autonomous vehicle, wherein the firsttriggering condition is different than the second triggering condition;generating a first sensor activation signal identifying a first set ofone or more sensors selected from the multiple sensors for activating inresponse to the first triggering condition; generating a second sensoractivation signal identifying a second set of one or more sensorsselected from the multiple sensors for activating in response to thesecond triggering condition; actuating the first set of one or moresensors based at least in part on the first sensor activation signal;and actuating the second set of one or more sensors based at least inpart on the second sensor activation signal.